Project 2 Adaptive Cruise Control
Aim:-
Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
Objective:-
- Follow all the MBD-related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
- In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
- Use Embedded Coder to generate the code.
- If choosing code generation, the Storage class for Input signals: ImportedExtern; the Storage class for Output signal: Is exported to File; the Storage class for local alerts: is localizable; the Storage class for calibration signals: is Const.
- Choose sample time for all signals as 0.01s
Requirements To Be Followed:-
- Requirement 1– Lead Vehicle:
- Lead Vehicle is a vehicle that is driving on the road ahead of our drive vehicle—two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).
- Ideally, sensor fusion techniques will be deployed to process & analyze data from camera & radar. For complexity reasons, let’s not adapt to any such algorithms.
- We can simply add both the radar & camera inputs & the corresponding output is read as Speed profile output (Signal Name: LeadVehicle_Speed).
- Speed data of the lead vehicle is critical in implementing the Adaptive Cruise Control algorithm.
- Requirement 2 – Drive Vehicle:
- Drive Vehicle is the vehicle driven by the user & this is the vehicle that has the ACC algorithm in it.
- Like the Lead Vehicle, the Drive Vehicle algorithm also has 2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode) – three inputs into this requirement in total.
- Like the above requirement, sensor fusion techniques will also be deployed here, for complexity reasons we are ignoring them.
- Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
- Signal DriveVehicle_Speed is the summation of the three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of the Signal Conversion block.
- Requirement 3 – Adaptive Cruise Control Algorithm:
- The adaptive Cruise Control feature has 3 major modes of operation: OFF Mode, STANDBY Mode & ON Mode. This particular requirement has to be implemented as state machine logic in Simulink.
- The input signals to this state machine system are (Signal Name: Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch).
- Also, the output signals (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected) from requirement-2 are fed back as an input signal into this state machine block.
- Additionally, the output signal (Signal Name: LeadVehicle_Speed) from requirement-1 is also given as an input signal to this state machine block.
- Output from this subsystem is a signal (Signal Name: Acceleration_Mode) which governs the vehicular speed of the drive vehicle and automatically adjusts its speed & velocity to match the lead vehicle.
- Requirement 3a – ACC OFF MODE state logic:
- This is the default state inside the state machine logic. Output signal Acceleration_Mode is at value 0 in this state.
- This state is governed by the input signal CruiseSwitch.
- If CruiseSwitch equals 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode
- Requirement 3b – ACC STANDBY MODE state logic:
- This is the second activated state inside the state machine logic. Output signal Acceleration_Mode is at value 1 in this state.
- This state is governed by both input signals CruiseSwitch & SetSwitch.
- If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode
- If SetSwitch equals 1, state ACC ON mode will get activated. If SetSwitch equals 0, state ACC STANDBY mode will get activated.
- Requirement 3c – ACC ON MODE state logic:
- This state will be activated when the input signal SetSwitch equals 1. There are 6 sub-states to this state logic: They are:
- LeadVehicle_Detected_Follow (Default)
- LeadVehicle_Not_Detected
- LeadVehicle_Detected_Resume
- LeadVehicle_Not_Detected_Resume
- LeadVehicle_Speed_lessthan_Set_Speed
- LeadVehicle_Speed_equal_Set_Speed
- This state will be activated when the input signal SetSwitch equals 1. There are 6 sub-states to this state logic: They are:
- Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):
- This is the default sub-state inside the ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.
- Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
- Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).
- Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 1.
- Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]
- Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 3.
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]
- Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 1.
- Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 4.
- Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
- Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]
- Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 5.
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed
Signals & Calibration Data List required for the .sldd file:-
|
Signal / Calibration Name |
Signal Type |
Data Type |
Dimension |
Min |
Max |
Initial Value |
Units |
|
CameraInput_LeadVehicle |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
RadarInput_LeadVehicle |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
CameraInput_DriveVehicle |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
RadarInput_DriveVehicle |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
Time_Gap |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
Set_Speed |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
Set_Gap |
Input |
Uint8 |
1 |
0 |
255 |
- |
- |
|
CruiseSwitch |
Input |
Boolean |
1 |
0 |
1 |
- |
- |
|
SetSwitch |
Input |
Boolean |
1 |
0 |
1 |
- |
- |
|
Acceleration_Mode |
Output |
Uint8 |
1 |
0 |
255 |
- |
- |
|
LeadVehicle_Speed |
Output |
Uint8 |
1 |
0 |
255 |
- |
- |
|
DriveVehicle_Speed |
Output |
Uint8 |
1 |
0 |
255 |
- |
- |
|
LeadVehicle_Detected |
Output |
Uint8 |
1 |
0 |
255 |
- |
- |
The Blocks That Are Required:-
| Sr.No. | Blocks Name | Quantity |
| 1. | Import | 39 |
| 2. | Outport | 6 |
| 3. | Goto/From | 4 |
| 4. | Add | 2 |
| 5. | Signal Routing | 1 |
| 6. | Chart | 1 |
| 7. | Chart Blocks | 8 |
Method to be followed:-
1.
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Requirment1- Lead Vehicle A Lead Vehicle refers to the vehicle that is driving in front of our vehicle on the road. To gather information about this vehicle, two input signals are utilized: CameraInput_LeadVehicle and RadarInput_LeadVehicle. While sensor fusion techniques are typically used to analyze data from both the camera and radar, for the sake of simplicity we will not be implementing such algorithms. Instead, we can combine the radar and camera inputs and use the resulting output, which is referred to as LeadVehicle_Speed, as the speed profile. Accurately determining the speed of the lead vehicle is crucial in implementing the Adaptive Cruise Control algorithm |
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2.
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Requirment2 - Drive Vehicle The Drive Vehicle refers to the vehicle operated by the user, equipped with the Adaptive Cruise Control (ACC) algorithm. Similar to the Lead Vehicle, the Drive Vehicle algorithm also relies on two input signals, namely CameraInput_DriveVehicle and RadarInput_DriveVehicle, as well as one additional input signal called Acceleration_Mode. In total, there are three inputs required for this subsystem. Just like the previous requirement, sensor fusion techniques are utilized here as well. However, for the sake of simplicity, we are not considering them in this instance. This subsystem produces two output signals: DriveVehicle_Speed and LeadVehicle_Detected. The DriveVehicle_Speed output signal is obtained by summing up the three input signals mentioned earlier, while the LeadVehicle_Detected output signal is received by renaming the RadarInput_DriveVehicle input signal using the Signal Conversion block. |
3.
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Requirements 3 -
Requirement 3a – ACC OFF MODE state logic:
Requirement 3b – ACC STANDBY MODE state logic:
Requirement 3c – ACC ON MODE state logic: This state will be activated when the input signal SetSwitch is equal to 1. There are 6 sub-states to this state logic: They are:
Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):
Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):
Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):
Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):
Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):
Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):
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4.
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Observation:-
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Conclusion:-
Atlast we have to generate code and the code file is attached in the documents.